CN110023948A - For determining the lighting system and its driver assistance system and method for geometrical characteristic - Google Patents
For determining the lighting system and its driver assistance system and method for geometrical characteristic Download PDFInfo
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- CN110023948A CN110023948A CN201780073231.7A CN201780073231A CN110023948A CN 110023948 A CN110023948 A CN 110023948A CN 201780073231 A CN201780073231 A CN 201780073231A CN 110023948 A CN110023948 A CN 110023948A
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- 238000000034 method Methods 0.000 title claims description 16
- 238000005286 illumination Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 230000008447 perception Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000016776 visual perception Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/0017—Devices integrating an element dedicated to another function
- B60Q1/0023—Devices integrating an element dedicated to another function the element being a sensor, e.g. distance sensor, camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
- F21S41/00—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps
- F21S41/60—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by a variable light distribution
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Image Input (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of driver assistance systems of motor vehicles, it includes the lighting system (1) of motor vehicles, the driver assistance system includes lighting unit (2), lighting unit setting is for illuminating the scene (3) in vehicle-periphery by projection integral face (5), the integral face includes the controllable pixel (4) of sum, lighting unit (2) setting is used for, and predefined pattern is projected the scene；At least part of image for shooting the scene is arranged in image capturing unit (7), the image capturing unit；And at least one geometrical characteristic (9 for calculating the scene by captured image and predefined pattern is arranged in computing unit (8), the computing unit；10).
Description
Technical field
The present invention relates to a kind of lighting systems for the light scene in motor vehicles ambient enviroment.The invention further relates to
The corresponding uses of the projection-type headlamp of corresponding driver assistance system, corresponding method and motor vehicles.
Background technique
Application field of the invention expands to the driver assistance system of driver assistance system, especially motor vehicles.
In order to make dynamic response to motor vehicles ambient enviroment in traffic, especially can perspective judgement driveway, driver
Auxiliary system needs the technology of the geometrical characteristic such as taking this to can determine that the space length of specific part and vehicle of ambient enviroment
Means.
Driver assistance system is derived from the well-known prior art, measures position using monocular-camera in such technology
Set and distance by be based on such as binocular solid perception or known object grade change width annotate or an object foot point
Height explain method.The disadvantages of the method are as follows needing the good contrast condition of daylight etc..
A kind of garage rolled on it for perspective judgement motor vehicle wheels known from 19730414 A1 of DE
The method in road, wherein analyzed and assessed in triangulation location method by the laser light figure of laser source transmitting.
The shortcomings that above method is that used video camera must be to infrared ray (near infrared ray (NIR)/infrared ray (IR))
Thus sensitivity will lead to the shortcomings that color-aware is misjudged in visible-range again or laser light figure must be in visible light model
In enclosing, this is likely to result in the interference to driver or other traffic participants, and thereby results in the danger in highway communication.This
Outside, one must also be provided for emitting the independent light source of laser light figure.
Summary of the invention
Therefore, a kind of for improving the lighting system or detection of driver assistance system work the task of the present invention is providing
System, can be in the case where not interfering driver to driveway or vehicle periphery ring under undesirable illumination condition
Border carries out perspective judgement.
The task is by motor vehicle operator auxiliary system according to claim 1, and by being wanted according to right
Method described in asking 12 and by using motor vehicles projection-type headlamp according to claim 13 solve.It is each below
Dependent claims reflect the beneficial other structures form of the present invention.
Technical teaching by the invention is: lighting system or head lamp system structure for motor vehicles have illumination
Unit, the lighting unit illuminate the scene in vehicle-periphery by projecting integral face, which includes sum
Controllable pixel, wherein the lighting unit or head lamp system setting are used for, and predefined pattern is projected the scene
On；There are also image capturing unit, the image capturing units, and at least part of image for shooting the scene is arranged for it；It
There are also a computing unit, which is arranged for calculating the scene by captured image and predefined pattern
At least one geometrical characteristic.The controllability of pixel refers to that pixel can be controlled in terms of its brightness and/or color.
Here, the integral face that can project or be projected head lamp system all pixels on the scene or entirely illumination
Area is e.g. complete, or it is e.g. flawless or be, for example, continuously.Meanwhile pixel subgroup dim it is for example right
All rest of pixels of integral face do not influence.Alternatively, each pixel of the gross area adjacent with subgroup pixel can be cut
Get in return it is brighter, to improve contrast.
Image capturing unit for example has a video camera for example insensitive to infrared ray (IR) or near infrared ray (NIR).
It for example can be the advantages of the lighting system according to the present invention, it can be with insensitive to (close) infrared ray ((N) IR)
Common video camera projected pattern is detected.
According to a preferred embodiment, lighting system includes that one or two headlamp of motor vehicles is single as illumination
Member.In other words, headlamp undertakes the projection of pattern.Headlamp with this function is projection-type headlamp, will be multiple
Controllable pixel projects in the ambient enviroment of motor vehicles.
Advantage is that the lighting unit setting is used for, and predefined pattern is projected institute by dimming a pixel subgroup
It states in scene.This is dimmed including for example reducing the brightness relative to adjacent pixel.Described dim for example can be by closing each picture
Element dims each pixel or each pixel is made to switch darker to realize.
Dim a pixel subgroup it is preferable that, make driver that can not perceive the pattern, but image capturing unit
It can be identified.
Nevertheless, the pattern is, for example, invisible to driver or is, for example, that can not perceive, because bright with irradiating
Bright respective markers are compared, and dark pixel or spot can less attract attention.
One preferred embodiment regulation, in order to realize changeable pixel, to one with preferably greater than 10, especially more than
100, the chip of the movable micro mirror (DMD-Digital Micromirror Device) of especially more than 1000 mirror units is following in the optical path
Column mode positions, so as to the luminous flux that can be projected in local influence from headlamp.In the engineering philosophy of this head lamp system
It has been known to the art as " pixel light " for motor vehicle headlamp, wherein the illumination feature of headlamp such as root
It can be by continuous adjustment matching according to trend of road or other traffic participants.
Another preferred embodiment regulation, in order to realize changeable pixel, head lamp system have it is a certain number of can be independent
The light source-of switching especially light emitting diode (LED), so as to the luminous flux that can be projected in local influence from headlamp.?
This, head lamp system preferably has more than 10, particular more than 100, particular more than 1000 individual light sources.This
The technology of kind head lamp system has been known to the art in principle for motor vehicle headlamp, wherein the photograph of headlamp
Bright feature for example can be by continuous adjustment matching according to trend of road or other traffic participants.
Preferred embodiment regulation of the invention, the pixel quantity of subgroup are less than the half of sum of all pixels, especially less than
Its a quarter, especially less than its 1/10th, especially less than its 1 percent, especially less than its one thousandth.Son
The quantity of sets of pixels is even also smaller than the one thousandth of sum of all pixels.
Thus be able to achieve: the light sensation formed at driver or other traffic participants by pattern influences mainly by entirety
Face is formed, and at the same time, smaller or many subgroups compared with ditty dark pixel are seldom unobvious or seldom or can not be perceived.
Another preferred embodiment regulation, subgroup pixel are unable to covering radius greater than 1 pixel, especially greater than 5 pictures
Element, especially greater than 10 pixels, especially greater than 25 pixels, especially greater than 50 pixels, especially greater than 100 pictures
The circle of element.Here, the circle that radius is a pixel is just made of a pixel.One radius is, for example, the circle example of two pixels
One 3 in this way multiplies the region of 3 pixels.
Thus further ensure that, not will form may compare small area or filament have more preferable visual perception performance compared with
Big or extension area or spot, the circle of minor radius can only be covered compared with small area or filament due to its very thin moulding.Here, real
The ideal maximum width for the subgroup adjacent pixel that border must select depends on the picture characteristics of lighting unit, such as depending on a picture
The resolution capability of expection physical space size and image capturing unit of the element on driveway.
Another beneficial embodiment regulation, the pixel shaping of subgroup are point and/or curve and/or straight line, such as cross
Or triangle or grid pattern or grid lines.
These figures are particularly easy to handle for image recognition algorithm.
One particularly preferred embodiment includes that lighting unit setting is used for, and is only projected during the determining pattern period
Pattern.
As a result, in the time zone outside the pattern period, only completely, unchanged integral face be projected, arrange as a result,
In addition in the time zone other than the pattern period to the interference of driver.
Another improvement of present embodiment provides that computing unit is used only in the image shot during the pattern period.This can
For example to realize by making image capturing unit only shoot image during these pattern periods or pass through computing unit only
The subgroup of image being formed during the image period, being continuously shot is used to calculate to realize.
Thus not only amount of calculation is minimized, and thereby reduces runing time, so that process be made to become
It obtains faster, and may can also improve contrast under situation, because not analyzed the image of no pattern.
Another preferred embodiment constructively proposes that the pattern period is correspondingly shorter than one second removes divided by 1, especially one second
With 2, especially one second divided by 4, especially one second divided by 10, especially one second divided by 24, especially one second divided by 30, especially
One second divided by 60, especially one second divided by 120.
It therefore ensures that, the period of the shade pattern projection dimmed in integral face is very short, and thus driver is more difficult
Perception.In contrast, a video camera of image capturing unit then can unquestionably shoot the pattern of short time formation.
Another embodiment regulation, image capturing unit are periodically changeless one at shooting start time point
Minimum shooting duration photographs images, wherein when the start time point of (pattern) period and some or all shootings originate
Between point be associated (especially be overlapped).
In other words, lighting unit and image capturing unit, it is corresponding with the changeless minimum shooting duration
Image repetition rate is associated and (is especially overlapped) or synchronizes.For example, lighting unit setting be used for, only when just start or i.e.
When by the frame image for starting image capturing unit, start the pattern period, also dim the pixel of subgroup.
Thus it is up to particularly preferred contrast, because thus in the time range of shooting image, the pixel quilt of subgroup
It dims, and unlike integral face rest part is so bright.Also prevent pattern by unnecessarily for a long time simultaneously --- for example
When image capturing unit does not shoot image --- show, this can interfere driver.
Present embodiment is further improved place and also resides in, and the length of a pattern period is approximately equivalent to shooting time
Several times.
For example, several times can be one times, twice, three times or any higher integral multiple.As a result, not only the pattern period rise
Begin time point, and its end time point is also assigned to the figure of the video camera of image capturing unit with image capturing unit or one
As repetitive rate is associated.Although the pattern that will likely be interfered simultaneously as a result, shows the duration and minimizes,
Still form particularly preferred contrast.
Here, the scene is preferably provided at before motor vehicles and/or side and/or back.It is used as " panorama as a result,
Look around " at least one geometrical characteristic of ambient enviroment can be at least calculated at an arbitrary position.
Another preferred embodiment regulation of the present invention, at least one geometrical characteristic includes at least part of of the scene
Space length of at least part of position or the scene relative to reference point.The reference point is, for example, one of motor vehicles
Point or image capturing unit a part or scene another part.
Equally, at least one geometrical characteristic may include the irregularity degree of the scene, such as rubble or hollow for identification.
It is particularly preferred that the lighting unit is set as projecting the projection-type headlamp of pattern by a micro mirror array.
Thus a kind of particularly apparent pixel control of especially high speed, contrast can be realized in the case of brighter at the same time, more effective light scene.
The task can also be solved by a kind of for calculating the method for at least one geometrical characteristic of scene, this method packet
Include the following steps:
The scene in vehicle-periphery is illuminated by projecting integral face by the lighting device of vehicle, the integral face
Controllable pixel including sum；
Predefined pattern is cast to the scene by dimming pixel subgroup；
At least part of image of photographed scene；
At least one geometrical characteristic of the scene is calculated by captured image and predefined pattern.
Especially preferred issue-resolution is, before the motor vehicles projection-type that can be projected one by micro mirror array
Illuminator is used as lighting device.
It thus avoids that independent lighting unit is installed, and instead by existing Micro-mirror array, this can make illumination system
The manufacturing technology of system is more easy.
Detailed description of the invention
Below with reference to two attached drawings, in conjunction with description of the preferred embodiment of the present invention, of the invention other are described in more detail
Corrective measure.Wherein
Fig. 1 a is a schematic diagram of one embodiment of the invention,
Fig. 1 b schematically shows a vehicle for having a driver assistance system, and
Fig. 2 is a schematic diagram of another embodiment of the present invention.
Specific embodiment
According to fig. 1a, driver assistance system includes lighting system and/or the head lamp system 1 for motor vehicles, is somebody's turn to do
Head lamp system has lighting unit 2.It is arranged for being shone by projecting the integral face 5 being made of the controllable pixel 4 of sum
Scene 3 in bright vehicle-periphery.It is preferred that two headlamps of motor vehicles are used as lighting unit 2, wherein headlamp is
Projection-type headlamp, it is by a large amount of individually controllable pixel projection into vehicle-periphery.
Lighting unit 2, which is especially arranged, to be used for, and the subgroup 6 by dimming pixel 4 is predefined one by what line and point were constituted
Pattern projects scene.Subgroup 6 is marked by black picture element 4 and is made of it.The pattern has and dims pixel 4, i.e. subgroup
Same shape, and be made of it.Here, the grid lines between pixel 4 is only used for being better described, not integral face or figure
A part of sample.
In addition, driver assistance system includes an image capturing unit 7, at least part for being used for photographed scene is arranged in it
Image, and
Computing unit 8, it be arranged for by acquired image and predefined pattern calculate scene at least one is several
What feature 9；10.
In the example, computing unit 8 is by predefined pattern and its image, and the image is due to projecting cylinder thing
It is geometrically being distorted on body 11, is not only calculating the geometrical characteristic 9 that form is 11 distance from image capturing unit to object,
And calculate the geometrical characteristic 10 of its height form.The radius of curvature of object can also for example be calculated.Equally, it can also count
Calculate the driveway characteristic that is not described further herein, such as its arching degree and architectural characteristic, such as exist the case where rubble or
The distance of arbitrary point in hollow size etc. or institute's light scene.Here, computing unit for example utilizes the calibration result stored.
According to the example, 4 quantity of pixel for the subgroup 6 being made of six pixels is less than 81 pictures of integral face 5
/ 10th of element 4.Therefore, the label is visually not very obvious.
In addition, 4 set-up mode of pixel of subgroup 6 is, covering radius is not greater than the circle of a pixel.It only form filament or
Point, due to the natural conditions of human perception, traffic participant seldom can obviously perceive its presence.
Here, lighting unit 2 is set as the projection-type headlamp by a micro mirror array reflective device.If such as motor-driven
One projection-type headlamp of vehicle is used as lighting unit 2, then need not use additional lighting unit.
Fig. 1 b describes the integration of component shown in Fig. 1 a in the motor vehicle.The headlamp of motor vehicles is lighting system
1 lighting unit 2.The headlamp is projection-type headlamp, and a large amount of individually controllable pixels 4 are projected motor vehicles week by it
In collarette border.Alignment front, windshield is set in the motor vehicle after --- preferred monocular --- video camera is used
Make image capturing unit 7.The video camera samples motor vehicle ambient enviroment together with the pattern projected by lighting system.
According to fig. 2, the setting of lighting unit 2 is used for, and only projects pattern during determining pattern period 12a, 12b.Here,
These periods are marked as black region on timetable.In addition, during computing unit 8 is used only in pattern period 12a, 12b
Image 13a, 13b of shooting.
It is correspondingly held in a constant most short shooting for example, image capturing unit 7 can rise in shooting start time point 14c
Image 13c is continuously shot across the most short shooting duration in other words on the continuous time 15.
In this example, image capturing unit only shoots image 13a, 13b in shooting start time point 14a, 14b.Here,
By lighting unit triggering, pattern period 12a；The start time point of 12b is associated with shooting start time point 14a, 14b.
In addition, pattern period 12a；The length of 12b is approximately equivalent to twice of such as shooting time 15.
Start time point is shot slightly before first for the start time point of the first image 13a, the first pattern period 12a
14a, the length of the first pattern period 12a are slightly longer than twice of shooting time 15, are achieved in highest contrast, but pattern
Slightly longer than necessarily it is revealed.
For the second image 13b, the start time point of the first pattern period 12b is slightly later than the first shooting start time point
14b, the length of the second pattern period 12b is slightly shorter than twice of shooting time 15, it is thus achieved that slightly lower contrast, but pattern
Also it is no longer than and is necessarily revealed.
For example, the projection of pattern is non for a driver in a short pattern period because thus by
The brightness of the respective pixel 4 of perception is practical to reduced by only several percentage points., whereas if the label is not blanked, but
It is revealed, then understands the insertion due to the pixel 4 of only faint illumination in the black background of driveway or scene and establish infinite height
Contrast, that is to say, that for computing unit 8 be further processed the similar situation of fitness under cause to driver's
Strong interference.
The present invention is not limited to above preferred embodiments.On the contrary, it is claimed to be also contemplated that this respect is included in following patent
Variant form in range.Thus such as image capturing unit may also comprise multiple video cameras or lighting unit may also comprise it is more
A micro mirror array.
Claims (13)
1. a kind of driver assistance system of motor vehicles comprising the lighting system (1) of motor vehicles, the driver assistance system
System includes
Lighting unit (2), lighting unit setting is for illuminating the field in vehicle-periphery by projection integral face (5)
Scape (3), the integral face include the controllable pixel (4) of sum, and lighting unit (2) setting is used for, predefined pattern is projected
The scene；
At least part of image for shooting the scene is arranged in image capturing unit (7), the image capturing unit；And
Computing unit (8), the computing unit are arranged for calculating the field by captured image and predefined pattern
At least one geometrical characteristic (9 of scape；10).
2. driver assistance system according to claim 1, wherein lighting system (1) includes as lighting unit (2)
One or two motor vehicle headlamp.
3. driver assistance system according to claim 1 or 2, wherein lighting unit (2) and image capturing unit (7)
Be arranged in the following manner: by controllable pixel (4), will be predefined and dimming one or more subgroups (6) of pixel (4)
Pattern casts to the scene.
4. the driver assistance system according to any claim in the claims, wherein lighting unit (2) are set
The mode of setting is that pixel (4) quantity of subgroup (6) is less than the half of pixel (4) sum.
5. the driver assistance system according to any claim in the claims, wherein lighting unit (2) are set
The mode of setting is that the pixel (4) of subgroup (6) is unable to the circle that covering radius is greater than 50 pixels (4).
6. the driver assistance system according to any claim in the claims, wherein lighting unit (2) setting
For only projecting pattern during the determining pattern period (12a, 12b).
7. driver assistance system according to claim 6, wherein computing unit (8) be used only in the pattern period (12a,
The image (13a, 13b) shot during 12b).
8. driver assistance system according to claim 6 or 7, wherein the pattern period (12a, 12b) is respectively shorter than one
Second.
9. the driver assistance system according to any claim in claim 6 to 8,
Wherein, image capturing unit (8) is periodically when shooting start time point (14c) and being in constant most short shooting and continue
Between (15) photographs images,
Wherein, the start time point of pattern period (12a, 12b) and some or all of shooting start time point (14a, 14b) phase
Connection.
10. driver assistance system according to claim 9,
Wherein, a pattern period (12a；Length 12b) is approximately equivalent to four times of shooting time (15).
11. the driver assistance system according to any claim in the claims,
Wherein, at least one described geometrical characteristic (9；It 10) include at least part of position or the scene (3) of scene (3)
At least part arrives the space length of reference point.
12. the method for at least one geometrical characteristic of the one kind for calculating scene (3), including following method steps:
The scene (3) in vehicle-periphery is illuminated by projection integral face (5) by the lighting device (2) of vehicle, it should
Integral face (5) includes the controllable pixel (4) of sum；
Predefined pattern is projected on scene (3)；
At least part of image (the 13a of photographed scene；13b)；
By captured image (13a；At least one geometrical characteristic of the scene (3) 13b) is calculated with predefined pattern
(9；10).
13. being used as by the motor vehicles projection-type headlamp that micro mirror array is projected for side according to claim 12
The application of the lighting device (2) of method.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016223671.7A DE102016223671A1 (en) | 2016-11-29 | 2016-11-29 | Illumination system for the determination of geometric properties as well as driver assistance system and method |
| DE102016223671.7 | 2016-11-29 | ||
| PCT/DE2017/200120 WO2018099525A1 (en) | 2016-11-29 | 2017-11-24 | Lighting system for ascertaining geometric properties, and driver assistance system and method therefor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110023948A true CN110023948A (en) | 2019-07-16 |
| CN110023948B CN110023948B (en) | 2024-08-27 |
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ID=60627372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780073231.7A Active CN110023948B (en) | 2016-11-29 | 2017-11-24 | Lighting system for determining geometric features and driver assistance system and method thereof |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US10836301B2 (en) |
| EP (1) | EP3549058A1 (en) |
| JP (1) | JP7050779B2 (en) |
| CN (1) | CN110023948B (en) |
| DE (2) | DE102016223671A1 (en) |
| WO (1) | WO2018099525A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114502426A (en) * | 2019-10-04 | 2022-05-13 | 法雷奥照明公司 | Method for adjusting the setpoint of a digital lighting unit of a motor vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102018101023B3 (en) * | 2018-01-18 | 2019-05-29 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Method for distance measurement by means of trajectory-based triangulation |
| FR3086611B1 (en) * | 2018-10-02 | 2021-04-16 | Valeo Vision | PROCESS FOR CONTROLLING A LIGHTING DEVICE FOR THE EMISSION OF A NON-GLAZING ROAD LIGHTING BEAM |
| DE102020117060B4 (en) | 2020-06-29 | 2022-05-05 | Audi Aktiengesellschaft | Device and method for detecting the surroundings of a vehicle |
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| WO2018099525A1 (en) | 2018-06-07 |
| DE102016223671A1 (en) | 2018-05-30 |
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| EP3549058A1 (en) | 2019-10-09 |
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